Wireless charging method, spherical robot, storage medium and program product

Abstract

The invention discloses a wireless charging method, a spherical robot, a storage medium and a program product, and relates to the technical field of robots, the wireless charging method is applied to the spherical robot, and the wireless charging method comprises the steps that after the spherical robot enters a wireless charging state, the spherical robot is charged; judging whether a receiving coil of the spherical robot is in a charging alignment state or not; and if the receiving coil of the spherical robot is not in the charging alignment state, adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in the charging alignment state. The technical problem that an existing spherical robot is low in charging efficiency in a wireless charging state is solved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a wireless charging method, a spherical robot, a storage medium, and a program product. Background Art

[0002] With the rapid development of science and technology, spherical robots have attracted much attention due to their unique spherical structure and flexible mobility, which can perform various tasks in complex environments.

[0003] At present, wireless charging technology has gradually become an important choice for charging spherical robots due to its convenience and safety. However, when a spherical robot is wirelessly charged, the receiving coil is usually fixed to the movable structure of the spherical robot (such as the rotating mechanism inside the spherical robot). Compared with traditional robots, spherical robots may be in any posture during wireless charging, and their movable structures may change due to gravity, external forces or internal mechanical movement, which makes it difficult to maintain a stable relative position between the receiving coil and the transmitting coil on the charging base. Poor coil alignment will seriously affect the power transmission efficiency, resulting in low charging efficiency.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a wireless charging method, a spherical robot, a storage medium and a program product, aiming to solve the technical problem of low charging efficiency of existing spherical robots in the wireless charging state.

[0006] To achieve the above objectives, the present application proposes a wireless charging method, which is applied to a spherical robot. The wireless charging method comprises: After the spherical robot enters a wireless charging state, determining whether a receiving coil of the spherical robot is in a charging alignment state; If the receiving coil of the spherical robot is not in the charging alignment state, the coil posture of the receiving coil in the spherical robot is adjusted until the receiving coil of the spherical robot is in the charging alignment state.

[0007] In one embodiment, the step of determining whether the receiving coil of the spherical robot is in a charging alignment state comprises: Acquire a real-time coupling coefficient of the receiving coil in the wireless charging state, and determine whether the real-time coupling coefficient is greater than a predetermined coupling threshold; If the real-time coupling coefficient is greater than a predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is in a charging alignment state; If the real-time coupling coefficient is not greater than a predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is not in a charging alignment state.

[0008] In one embodiment, the step of adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state comprises: Adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil until the receiving coil is in a target coil posture in a charging alignment state; The spherical robot is controlled to maintain the target coil posture.

[0009] In one embodiment, the step of adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil and obtaining the coefficient change information of the real-time coupling coefficient includes: Selecting a heading angle interval from a preset heading interval set, and controlling the spherical robot to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval; The pitch angle of the receiving coil in the spherical robot is adjusted to obtain the interval coefficient extreme value of the real-time coupling coefficient in the heading angle interval, and the steps are performed: a heading angle interval in a preset heading interval set is selected, and the spherical robot is controlled to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval until all the heading angle intervals in the preset heading interval set are traversed; An optimal coupling coefficient is selected from the interval coefficient extreme values ​​corresponding to each heading angle interval in the preset heading interval set, and the heading angle interval and pitch angle corresponding to the optimal coupling coefficient are used as the target coil posture of the receiving coil in the charging alignment state.

[0010] In one embodiment, before the step of selecting a heading angle interval from the preset heading interval set and controlling the spherical robot to rotate to the heading angle interval so that the receiving coil is synchronously adjusted to the heading angle interval, the method includes: Controlling the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state; After the spherical robot is in a target horizontal state, the step of adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state is performed.

[0011] In one embodiment, the step of adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil and obtaining the coefficient change information of the real-time coupling coefficient further includes: Adjusting the heading angle of the receiving coil in the spherical robot to obtain a target heading angle at which the real-time coupling coefficient is maximum in the adjusted heading angle; Adjusting the pitch angle of the receiving coil in the spherical robot at the target heading angle to obtain a target pitch angle at which the real-time coupling coefficient is maximum in the adjusted pitch angle; The target heading angle and the target pitch angle are used as the target coil posture when the receiving coil is in a charging alignment state.

[0012] In one embodiment, before the step of adjusting the heading angle of the receiving coil in the spherical robot to obtain the target heading angle with the largest real-time coupling coefficient in the adjusted heading angle, the step includes: Controlling the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state; After the spherical robot reaches the target horizontal state, the receiving coil in the spherical robot is adjusted to a specified roll angle and / or a specified pitch angle, and the steps are performed: adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state.

[0013] In addition, to achieve the above-mentioned purpose, the present application also proposes a spherical robot, the spherical robot comprising: a spherical shell, and a driving component and a control module disposed in the spherical shell; The control module includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the wireless charging method described above.

[0014] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the wireless charging method described above are implemented.

[0015] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the wireless charging method described above are implemented.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: After the spherical robot enters the wireless charging state, the present application can determine whether the receiving coil of the spherical robot is in the charging alignment state; if the receiving coil of the spherical robot is not in the charging alignment state, the coil posture of the receiving coil in the spherical robot can be adjusted until the receiving coil of the spherical robot is in the charging alignment state. In view of the characteristic that the receiving coil of the spherical robot is usually fixed to the movable structure of the spherical robot, the present application adjusts the coil posture of the receiving coil in the spherical robot in the wireless charging state, so that the receiving coil can be adaptively adjusted to the charging alignment state, thereby realizing the wireless charging of the spherical robot in any posture and ensuring its charging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of a scene of a spherical robot involved in this application; Figure 2 A schematic diagram of a flow chart provided for the first embodiment of the wireless charging method of the present application; Figure 3 A schematic diagram of a flow chart provided for the second embodiment of the wireless charging method of the present application; Figure 4 A schematic diagram of a scenario provided for the second embodiment of the wireless charging method of the present application; Figure 5 A schematic diagram of a flow chart provided for the third embodiment of the wireless charging method of the present application; Figure 6 A schematic diagram of a scenario provided in Embodiment 3 of the wireless charging method of the present application; Figure 7 This is a schematic diagram of the device structure of the spherical robot involved in the wireless charging method of this application.

[0020] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0022] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution of the embodiment of the present application is: after the spherical robot enters the wireless charging state, determine whether the receiving coil of the spherical robot is in the charging alignment state; if the receiving coil of the spherical robot is not in the charging alignment state, adjust the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in the charging alignment state.

[0024] In this embodiment, for the convenience of description, the following description is made taking a spherical robot as the execution subject.

[0025] When a spherical robot in the prior art is wirelessly charged, the receiving coil is usually fixed to the movable structure of the spherical robot (such as the rotating mechanism inside the spherical robot). Compared with traditional robots, the spherical robot may be in any posture during wireless charging, and its movable structure may change due to gravity, external force or internal mechanical movement, which makes it difficult to maintain a stable relative position between the receiving coil and the transmitting coil on the charging base. Figure 1 As shown, since wireless charging relies on a magnetic field, the magnetic field strength passing through the receiving coil will be greatly affected in the charging aligned state and the charging misaligned state, and a poor coil alignment state will seriously affect the power transmission efficiency, resulting in low charging efficiency.

[0026] The present application provides a solution. In view of the characteristic that the receiving coil of a spherical robot is usually fixed on the movable structure of the spherical robot, the coil posture of the receiving coil in the spherical robot is adjusted in the wireless charging state so that the receiving coil can be adaptively adjusted to the charging alignment state, thereby realizing wireless charging of the spherical robot in any posture and ensuring its charging efficiency.

[0027] Based on this, the present application embodiment provides a wireless charging method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the wireless charging method of the present application.

[0028] In this embodiment, the wireless charging method is applied to a spherical robot, and the wireless charging method includes steps S10 to S20: Step S10, after the spherical robot enters the wireless charging state, determining whether the receiving coil of the spherical robot is in a charging alignment state; If the receiving coil of the spherical robot is not in the charging alignment state, the coil posture of the receiving coil in the spherical robot is adjusted until the receiving coil of the spherical robot is in the charging alignment state.

[0029] It should be noted that the wireless charging state is a state in which the spherical robot transmits power to a wireless charging device (such as a charging stand).

[0030] In addition, it should be noted that the charging alignment state is a state in which the receiving coil of the spherical robot is aligned with the transmitting coil of the wireless charging device (that is, the receiving coil is aligned with the axis of the transmitting coil, and the angle between the plane where the receiving coil is located and the plane where the transmitting coil is located is less than a predetermined angle threshold). The receiving coil of the spherical robot is arranged on a movable structure inside the spherical robot, and the movable structure is a structure that is allowed to move at at least one angle of the Euler angle.

[0031] This embodiment can determine whether the spherical robot enters the wireless charging state by detecting the current change of the receiving coil. For example, the coil current of the receiving coil is obtained, and after the coil current is greater than a predetermined current threshold, it is determined that the spherical robot enters the wireless charging state. This embodiment can also determine whether the spherical robot enters the wireless charging state by detecting the voltage change of the receiving coil. For example, the coil voltage of the receiving coil is obtained, and after the coil voltage is greater than a predetermined voltage threshold, it is determined that the spherical robot enters the wireless charging state. Since wireless charging is performed with the aid of a magnetic field, this embodiment can also determine whether the spherical robot enters the wireless charging state by detecting the magnetic field change of the receiving coil. For example, the coil magnetic field of the receiving coil is obtained, and after the coil magnetic field is greater than a predetermined magnetic field strength threshold, it is determined that the spherical robot enters the wireless charging state.

[0032] In this embodiment, the current coil posture of the receiving coil of the spherical robot collected by the inertial sensor can be obtained to determine whether the current coil posture matches the target coil posture, wherein the target coil posture is the coil posture of the receiving coil of the spherical robot in the charging alignment state. If the current coil posture does not match the target coil posture, it can be determined that the receiving coil of the spherical robot is not in the charging alignment state.

[0033] Furthermore, this embodiment can also obtain the real-time coupling coefficient of the receiving coil in the wireless charging state, and determine whether the real-time coupling coefficient is greater than a predetermined coupling threshold; if the real-time coupling coefficient is greater than the predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is in a charging alignment state; if the real-time coupling coefficient is not greater than the predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is not in a charging alignment state. Therefore, this embodiment does not need to use an inertial sensor to detect the current coil posture of the receiving coil of the spherical robot in real time, and can also identify whether the receiving coil of the spherical robot is in a charging alignment state. And even if the position of the transmitting coil in the wireless charging device is offset, this embodiment can accurately identify whether the receiving coil in the spherical robot is aligned with the transmitting coil in the wireless charging device.

[0034] In a feasible implementation manner, the step of determining whether the receiving coil of the spherical robot is in a charging alignment state in step S10 may include steps S11 to S13: Step S11, obtaining a real-time coupling coefficient of the receiving coil in the wireless charging state, and determining whether the real-time coupling coefficient is greater than a predetermined coupling threshold; Step S12, if the real-time coupling coefficient is greater than a predetermined coupling threshold, determining that the receiving coil of the spherical robot is in a charging alignment state; Step S13: If the real-time coupling coefficient is not greater than a predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is not in a charging alignment state.

[0035] It should be noted that the real-time coupling coefficient is a dimensionless parameter that is collected in real time and represents the electromagnetic coupling strength between the receiving coil in the spherical robot and the transmitting coil in the wireless charging device, and its value range is generally between 0 and 1. The predetermined coupling threshold is a coupling coefficient that is preset to determine whether the receiving coil of the spherical robot is in a charging alignment state, such as 0.6, 0.7, etc.

[0036] This embodiment obtains the real-time coupling coefficient of the receiving coil in the wireless charging state, and determines whether the real-time coupling coefficient is greater than a predetermined coupling threshold; if the real-time coupling coefficient is greater than the predetermined coupling threshold, it indicates that the electromagnetic coupling strength between the receiving coil in the spherical robot and the transmitting coil in the wireless charging device is relatively high, and it can be determined that the receiving coil of the spherical robot is in a charging alignment state; if the real-time coupling coefficient is not greater than the predetermined coupling threshold, it indicates that the electromagnetic coupling strength between the receiving coil in the spherical robot and the transmitting coil in the wireless charging device is relatively low, and it can be determined that the receiving coil of the spherical robot is not in a charging alignment state.

[0037] Therefore, this embodiment can identify whether the receiving coil of the spherical robot is in a charging alignment state without the need for an inertial sensor to detect the current coil posture of the receiving coil of the spherical robot in real time. Even if the position of the transmitting coil in the wireless charging device is offset, this embodiment can accurately identify whether the receiving coil in the spherical robot is aligned with the transmitting coil in the wireless charging device. Compared with the method of using the current coil posture of the receiving coil of the spherical robot collected by an inertial sensor for determination, the determination method of this embodiment is simpler, more efficient and more accurate.

[0038] Step S20: If the receiving coil of the spherical robot is not in the charging alignment state, adjust the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in the charging alignment state.

[0039] If the receiving coil of the spherical robot is not in the charging alignment state, the coil posture of the receiving coil in the spherical robot can be adjusted. Exemplarily, this embodiment can adjust at least one angle of the Euler angle of the receiving coil to adjust the coil posture of the receiving coil until the receiving coil is in the target coil posture in the charging alignment state. For example, this embodiment can adjust an angle (such as heading angle, pitch angle or roll angle) in the Euler angle of the receiving coil by controlling the spherical robot to move as a whole and / or controlling the movable structure in which the receiving coil in the spherical robot is located to move, until the real-time coupling coefficient is greater than the predetermined coupling threshold, that is, the receiving coil of the spherical robot is in the charging alignment state. Further, after traversing the angle in the Euler angle of the receiving coil, the angle corresponding to the maximum real-time coupling coefficient and the real-time coupling coefficient greater than the predetermined coupling threshold is used as the target coil posture, and the target coil posture is maintained.

[0040] In a feasible implementation manner, the step of adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state in step S20 may include steps S21-S22: Step S21, adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil until the receiving coil is in a target coil posture in a charging alignment state; Step S22, controlling the spherical robot to maintain the target coil posture.

[0041] It should be noted that the Euler angles of the receiving coil include the heading angle, pitch angle and roll angle of the receiving coil.

[0042] In this embodiment, the adjustment direction of the first angle in the Euler angle of the receiving coil can be determined first (such as the direction of increasing or decreasing the angle), and then the angle of the receiving coil can be adjusted according to the adjustment direction to adjust the coil posture of the receiving coil until the real-time coupling coefficient is greater than the predetermined coupling threshold, that is, the receiving coil of the spherical robot is in a charging alignment state. Furthermore, the first angle in the Euler angle of the receiving coil can be traversed, and the first angle with a real-time coupling coefficient greater than the predetermined coupling threshold and the largest real-time coupling coefficient during the traversal process can be used as the target coil posture. If after traversing the first angle in the Euler angle of the receiving coil, the real-time coupling coefficient is not greater than the predetermined coupling threshold, the second angle in the Euler angle of the receiving coil will be traversed while maintaining the first angle corresponding to the largest real-time coupling coefficient, and the first angle and the second angle with a real-time coupling coefficient greater than the predetermined coupling threshold and the largest real-time coupling coefficient during the traversal process can be used as the target coil posture. If the real-time coupling coefficient is not greater than the predetermined coupling threshold after traversing the second angle in the Euler angle of the receiving coil, the third angle in the Euler angle of the receiving coil will be traversed while maintaining the first angle and the second angle corresponding to the maximum real-time coupling coefficient, and the first angle, the second angle and the third angle with the maximum real-time coupling coefficient during the traversal process are used as the target coil posture. The first angle, the second angle and the third angle correspond to the heading angle, the pitch angle and the roll angle in the Euler angle of the receiving coil, respectively. Then the spherical robot is controlled to maintain the target coil posture until the wireless charging process of the spherical robot is completed.

[0043] The first embodiment of the present application provides a wireless charging method. After the spherical robot enters the wireless charging state, it can be determined whether the receiving coil of the spherical robot is in the charging alignment state; if the receiving coil of the spherical robot is not in the charging alignment state, the coil posture of the receiving coil in the spherical robot can be adjusted until the receiving coil of the spherical robot is in the charging alignment state. In view of the characteristic that the receiving coil of the spherical robot is usually fixed to the movable structure of the spherical robot, this embodiment adjusts the coil posture of the receiving coil in the spherical robot in the wireless charging state, so that the receiving coil can be adaptively adjusted to the charging alignment state, thereby realizing the wireless charging of the spherical robot in any posture and ensuring its charging efficiency.

[0044] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S21 includes steps A10 to A30: Step A10, selecting a heading angle interval from the preset heading interval set, and controlling the spherical robot to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval; Step A20, adjusting the pitch angle of the receiving coil in the spherical robot to obtain the interval coefficient extreme value of the real-time coupling coefficient in the heading angle interval, and executing the steps: selecting a heading angle interval in the preset heading interval set, and controlling the spherical robot to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval, until all the heading angle intervals in the preset heading interval set are traversed; Step A30, selecting the best coupling coefficient from the interval coefficient extreme values ​​corresponding to each heading angle interval in the preset heading interval set, and using the heading angle interval and pitch angle corresponding to the best coupling coefficient as the target coil posture when the receiving coil is in the charging alignment state.

[0045] It should be noted that the preset heading interval set includes multiple preset heading angle intervals, for example, 360° on the heading can be divided into 36 heading angle intervals of 10° each, or can be divided into 72 heading angle intervals of 5° each.

[0046] This embodiment can control the spherical robot to rotate to a heading angle interval in a preset heading interval set after selecting the heading angle interval, so that the receiving coil can be synchronously adjusted to the heading angle interval. The pitch angle of the receiving coil in the spherical robot can be adjusted according to a predetermined step angle (such as 5°, 6°, etc.) to achieve traversal of the pitch angle of the receiving coil, wait until the receiving coil has a real-time coupling coefficient at each pitch angle in the heading angle interval, and then select the maximum value from the real-time coupling coefficient at each pitch angle in the heading angle interval as the interval coefficient extreme value. This embodiment can calculate the monotonicity of the real-time coupling coefficient during the pitch angle of the receiving coil in the spherical robot, and after the monotonicity is not an increasing trend, select the maximum value from the real-time coupling coefficient at each pitch angle in the heading angle interval as the interval coefficient extreme value. Then, the step of selecting a heading angle interval in the preset heading interval set and controlling the spherical robot to rotate to the heading angle interval so that the receiving coil is synchronously adjusted to the heading angle interval until all heading angle intervals in the preset heading interval set are traversed. After completing the traversal of all heading angle intervals in the preset heading interval set, the optimal coupling coefficient can be selected from the extreme values ​​of the interval coefficients corresponding to each heading angle interval in the preset heading interval set, and the heading angle interval and pitch angle corresponding to the optimal coupling coefficient are used as the target coil posture when the receiving coil is in the charging alignment state.

[0047] In a feasible implementation manner, step A10 may include steps B10 to B20: Step B10, controlling the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state; Step B10, after the spherical robot is in a target horizontal state, the step of adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state.

[0048] This embodiment can control the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state. Since the horizontal state is a stable reference state, it is more convenient for subsequent fine adjustment and control compared to other postures. In addition, in the horizontal state, the inertial sensor can more accurately measure and respond to posture changes, thereby improving the stability and accuracy of control. After the spherical robot is in the target horizontal state, the step of adjusting the coil posture of the receiving coil in the spherical robot is performed until the receiving coil of the spherical robot is in a charging alignment state. Figure 4 As shown, taking the spherical robot as a two-wheeled spherical robot (i.e., a spherical robot that moves by two moving wheels, a left wheel and a right wheel) as an example, when the spherical robot rotates in situ, the trajectory of the left wheel coincides with the trajectory of the right wheel (i.e., the black dotted line in the figure), so that the spherical robot is in a target horizontal state. Then, the left wheel and the right wheel are synchronously rotated in the pitch direction (i.e., the red dotted line and the yellow dotted line in the figure) to adjust the pitch angle of the receiving coil inside the spherical robot.

[0049] This embodiment controls the spherical robot to perform an on-the-spot rotation operation before adjusting the coil posture of the receiving coil in the spherical robot, so that the spherical robot is in a target horizontal state, thereby improving the precision and accuracy of the subsequent adjustment of the coil posture of the receiving coil with the help of the target horizontal state as a stable reference state.

[0050] The second embodiment of the present application selects a heading angle interval in a preset heading interval set, and controls the spherical robot to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval; adjusts the pitch angle of the receiving coil in the spherical robot to obtain the interval coefficient extreme value of the real-time coupling coefficient in the heading angle interval, and executes the steps: selects a heading angle interval in a preset heading interval set, and controls the spherical robot to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval, until all heading angle intervals in the preset heading interval set are traversed; selects the optimal coupling coefficient from the interval coefficient extreme values ​​corresponding to each heading angle interval in the preset heading interval set, and uses the heading angle interval and pitch angle corresponding to the optimal coupling coefficient as the target coil posture of the receiving coil in the charging alignment state. Therefore, this embodiment traverses the pitch angles under each heading angle interval in the preset heading interval set one by one, thereby finding the coil posture with the best global coupling coefficient as the target coil posture, which effectively improves the charging efficiency of the spherical robot in the wireless charging state.

[0051] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. Figure 5 Step S21 further includes steps C10 to C30: Step C10, adjusting the heading angle of the receiving coil in the spherical robot to obtain a target heading angle with the largest real-time coupling coefficient among the adjusted heading angles; Step C20, adjusting the pitch angle of the receiving coil in the spherical robot at the target heading angle to obtain a target pitch angle at which the real-time coupling coefficient is maximum among the adjusted pitch angles; Step C30: Using the target heading angle and the target pitch angle as the target coil posture when the receiving coil is in a charging alignment state.

[0052] In this embodiment, the real-time coupling coefficient of each heading angle during the adjustment of the heading angle can be obtained by adjusting the heading angle of the receiving coil in the spherical robot, and the heading angle with the largest real-time coupling coefficient can be selected as the target heading angle. Then, the pitch angle of the receiving coil in the spherical robot is continued to be adjusted under the target heading angle to obtain the real-time coupling coefficient of each pitch angle of the receiving coil under the target heading angle, and then the pitch angle with the largest real-time coupling coefficient can be selected as the target pitch angle. The target heading angle and the target pitch angle are used as the target coil posture when the receiving coil is in the charging alignment state. After traversing the target heading angle with the largest real-time coupling coefficient, this embodiment continues to traverse the target pitch angle with the largest real-time coupling coefficient under the target heading angle, thereby quickly realizing the determination of the target coil posture and improving the adjustment efficiency of the coil posture.

[0053] In a feasible implementation manner, step C10 may include steps D10 to D20: Step D10, controlling the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state; Step D20, after the spherical robot is in the target horizontal state, adjust the receiving coil in the spherical robot to a specified roll angle and / or a specified pitch angle, and execute the step: adjust the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state.

[0054] It should be noted that the designated roll angle is a preset roll angle, and the designated pitch angle is a preset pitch angle.

[0055] In order to ensure that the spherical robot has a stable reference posture before traversing the heading angle, and the real-time coupling coefficient will also change as the heading angle changes. This embodiment can first control the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state. Then, after the spherical robot reaches the target horizontal state, the receiving coil in the spherical robot is adjusted to a specified roll angle and / or a specified pitch angle, and the step of adjusting the coil posture of the receiving coil in the spherical robot is performed until the receiving coil of the spherical robot is in a charging alignment state. Therefore, when this embodiment adjusts the heading angle under the specified roll angle and / or specified pitch angle, the search for the optimal target heading angle will not be interfered with due to the different roll angles or pitch angles of the spherical robot.

[0056] like Figure 6As shown, the spherical robot is also a two-wheeled spherical robot. When the spherical robot rotates in situ, the trajectory of the left wheel coincides with the trajectory of the right wheel (i.e., the black dotted line in the figure), so that the spherical robot is in the target horizontal state. Then, the left wheel provides a trajectory with a larger radius (i.e., the red dotted line in the figure), while the right wheel provides a trajectory with a smaller radius (i.e., the yellow dotted line in the figure), so that the spherical robot forms a specified roll angle. Of course, it can be understood that if the movable structure that fixes the receiving coil can move in the roll direction, the movable structure can be controlled to adjust to the target roll angle.

[0057] The third embodiment of the present application adjusts the heading angle of the receiving coil in the spherical robot to obtain the real-time coupling coefficient of each heading angle during the adjustment of the heading angle, and selects the heading angle with the largest real-time coupling coefficient as the target heading angle. Then, the pitch angle of the receiving coil in the spherical robot is continued to be adjusted at the target heading angle to obtain the real-time coupling coefficient of each pitch angle of the receiving coil at the target heading angle, and then the pitch angle with the largest real-time coupling coefficient is selected as the target pitch angle. The target heading angle and the target pitch angle are used as the target coil posture when the receiving coil is in the charging alignment state. After traversing the target heading angle with the largest real-time coupling coefficient, this embodiment continues to traverse the target pitch angle with the largest real-time coupling coefficient at the target heading angle, thereby quickly realizing the determination of the target coil posture and improving the adjustment efficiency of the coil posture.

[0058] The spherical robot provided in the present application comprises: a spherical shell, and a driving component and a control module arranged in the spherical shell; The control module includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the wireless charging method in the above-mentioned embodiment 1.

[0059] Reference below Figure 7 , which shows a schematic diagram of the structure of a spherical robot suitable for implementing the embodiment of the present application. Figure 7As shown, the spherical robot includes a spherical shell 300, and a driving component 200 and a control module 100 disposed in the spherical shell 300; the control module 100 may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the control module are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, accelerometers, gyroscopes, wireless charging control modules, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication device 1009 can allow the spherical robot to communicate with other devices wirelessly or by wire to exchange data. The driving component 200 can include components such as driving motors and motion wheels that drive the spherical robot to operate. Figure 7 The spherical robot shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application. Although the control module with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0060] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0061] The spherical robot provided by the present application adopts the wireless charging method in the above embodiment, which can solve the technical problem of low charging efficiency of the existing spherical robot in the wireless charging state. Compared with the prior art, the beneficial effects of the spherical robot provided by the present application are the same as the beneficial effects of the wireless charging method provided by the above embodiment, and the other technical features of the spherical robot are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0062] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0063] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0064] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the wireless charging method in the above-mentioned embodiment.

[0065] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0066] The computer-readable storage medium may be contained in the spherical robot; or may exist independently without being assembled into the spherical robot.

[0067] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the spherical robot, the spherical robot: after the spherical robot enters the wireless charging state, determines whether the receiving coil of the spherical robot is in the charging alignment state; if the receiving coil of the spherical robot is not in the charging alignment state, adjusts the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in the charging alignment state.

[0068] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0069] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0070] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0071] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned wireless charging method, and can solve the technical problem of low charging efficiency of the existing spherical robot in the wireless charging state. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the wireless charging method provided by the above-mentioned embodiment, and will not be repeated here.

[0072] The present application also provides a computer program product, including a computer program, which implements the steps of the wireless charging method as described above when executed by a processor.

[0073] The computer program product provided by the present application can solve the technical problem of low charging efficiency of the existing spherical robot in the wireless charging state. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the wireless charging method provided by the above embodiment, which will not be repeated here.

[0074] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A wireless charging method, characterized in that: Applied to a spherical robot, the wireless charging method comprises: After the spherical robot enters a wireless charging state, determining whether a receiving coil of the spherical robot is in a charging alignment state; If the receiving coil of the spherical robot is not in the charging alignment state, the coil posture of the receiving coil in the spherical robot is adjusted until the receiving coil of the spherical robot is in the charging alignment state.

2. The wireless charging method according to claim 1, wherein: The step of determining whether the receiving coil of the spherical robot is in a charging alignment state comprises: Acquire a real-time coupling coefficient of the receiving coil in the wireless charging state, and determine whether the real-time coupling coefficient is greater than a predetermined coupling threshold; If the real-time coupling coefficient is greater than a predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is in a charging alignment state; If the real-time coupling coefficient is not greater than a predetermined coupling threshold, it is determined that the receiving coil of the spherical robot is not in a charging alignment state.

3. The wireless charging method according to claim 2, wherein: The step of adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state comprises: Adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil until the receiving coil is in a target coil posture in a charging alignment state; The spherical robot is controlled to maintain the target coil posture.

4. The wireless charging method according to claim 3, characterized in that: The step of adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil and obtaining the coefficient change information of the real-time coupling coefficient includes: Selecting a heading angle interval from a preset heading interval set, and controlling the spherical robot to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval; The pitch angle of the receiving coil in the spherical robot is adjusted to obtain the interval coefficient extreme value of the real-time coupling coefficient in the heading angle interval, and the steps are performed: a heading angle interval in a preset heading interval set is selected, and the spherical robot is controlled to rotate to the heading angle interval, so that the receiving coil is synchronously adjusted to the heading angle interval until all the heading angle intervals in the preset heading interval set are traversed; An optimal coupling coefficient is selected from the interval coefficient extreme values ​​corresponding to each heading angle interval in the preset heading interval set, and the heading angle interval and pitch angle corresponding to the optimal coupling coefficient are used as the target coil posture of the receiving coil in the charging alignment state.

5. The wireless charging method according to claim 4, characterized in that: Before the step of selecting a heading angle interval from the preset heading interval set and controlling the spherical robot to rotate to the heading angle interval so that the receiving coil is synchronously adjusted to the heading angle interval, the method includes: Controlling the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state; After the spherical robot is in a target horizontal state, the step of adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state is performed.

6. The wireless charging method according to claim 3, characterized in that: The step of adjusting at least one of the Euler angles of the receiving coil to adjust the coil posture of the receiving coil and obtain the coefficient change information of the real-time coupling coefficient also includes: Adjusting the heading angle of the receiving coil in the spherical robot to obtain a target heading angle at which the real-time coupling coefficient is maximum in the adjusted heading angle; Adjusting the pitch angle of the receiving coil in the spherical robot at the target heading angle to obtain a target pitch angle at which the real-time coupling coefficient is maximum in the adjusted pitch angle; The target heading angle and the target pitch angle are used as the target coil posture when the receiving coil is in a charging alignment state.

7. The wireless charging method according to claim 6, wherein: Before the step of adjusting the heading angle of the receiving coil in the spherical robot to obtain the target heading angle with the largest real-time coupling coefficient in the adjusted heading angle, the method includes: Controlling the spherical robot to perform an in-situ rotation operation so that the spherical robot is in a target horizontal state; After the spherical robot reaches the target horizontal state, the receiving coil in the spherical robot is adjusted to a specified roll angle and / or a specified pitch angle, and the steps are performed: adjusting the coil posture of the receiving coil in the spherical robot until the receiving coil of the spherical robot is in a charging alignment state.

8. A spherical robot, characterized in that: The spherical robot comprises: a spherical shell, and a driving component and a control module arranged in the spherical shell; The control module includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the wireless charging method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the wireless charging method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the wireless charging method according to any one of claims 1 to 6 are implemented.

Images